CN114434424B - Bionic spine mechanism - Google Patents
Bionic spine mechanism Download PDFInfo
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- CN114434424B CN114434424B CN202210083408.4A CN202210083408A CN114434424B CN 114434424 B CN114434424 B CN 114434424B CN 202210083408 A CN202210083408 A CN 202210083408A CN 114434424 B CN114434424 B CN 114434424B
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- rope
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- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 47
- 238000005452 bending Methods 0.000 claims abstract description 22
- 210000001503 joint Anatomy 0.000 claims description 33
- 238000010618 wire wrap Methods 0.000 claims description 3
- 230000007935 neutral effect Effects 0.000 claims 1
- 229920001296 polysiloxane Polymers 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241000124008 Mammalia Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a bionic spine mechanism in the technical field of bionic robots, and aims to solve the problem that the release amount of a rope is insufficient to meet the spine bending requirement when the rope is used for controlling the bending of the bionic spine structure in the prior art. The device comprises a front frame and a rear frame, wherein the front frame is provided with a spine head end, the rear frame is provided with a spine tail end, and at least one spine joint is movably connected between the spine head end and the spine tail end; the front frame and/or the rear frame are/is provided with at least one driving mechanism for controlling the whole movement of the spine, and the length of one side rope which is released is larger than the length of the corresponding other side rope which is folded when the driving mechanism controls the bionic spine to bend; the invention is suitable for controlling the bionic spine mechanism of the bionic robot, can provide a rope with enough length for the spine to meet the bending requirement when the spine is bent, overcomes the problem of inconvenient use of a rope control mode, and is beneficial to use in practical application.
Description
Technical Field
The invention relates to a bionic spinal mechanism, and belongs to the technical field of bionic spines.
Background
When events such as fire, mine disaster, nuclear leakage, terrorist attack and the like occur, dangerous tasks such as search and rescue, anti-terrorism, explosion elimination, reconnaissance and the like are needed to be carried out. In order to reduce casualties, mobile robots are often used. Because of the complex ground environment, the adaptability of the traditional wheeled and crawler robots is poor, so that the four-foot robot contacted with the ground point in the movement process has a great application prospect. Quadruped robots are bionic robots imitating mammals, and prototypes in real life often have spines with flexible movements, so that stable, flexible and efficient movements can be realized by the quadruped robots.
The bionic spine mechanism of the prior art usually adopts the cooperation of structural members such as ropes, springs and the like to associate spine joints, and makes the whole spine joint bent by controlling different rope linkage devices, but under the condition that the bending amplitude of the spine is larger, the required extending amount of one side after bending is larger than the corresponding receiving amount of the rope of the other side, so the condition that the spine cannot be bent easily caused by a rope winding driving mode, the bionic spine cannot normally work, and the bionic spine is unfavorable for being used in practical application.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a bionic spine mechanism, which is used in the field of bionic robots, and when equipment drives a spine structure to bend, the extension amount of a rope on one side of the bionic spine mechanism is controlled to be larger than the collection amount of a rope on the other side of the bionic spine mechanism, so that the normal bending operation of the spine can be effectively ensured.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in one aspect, the invention provides a bionic spine mechanism, which comprises a front frame and a rear frame, wherein a spine head end is arranged on the front frame, a spine tail end is arranged on the rear frame, and at least one spine joint is movably connected between the spine head end and the spine tail end;
the driving mechanism is characterized in that at least one driving mechanism is arranged on the front frame and/or the rear frame, a wire spool is arranged at the output end of each driving mechanism, a plurality of ropes on the wire spools are respectively arranged on the upper side, the lower side, the left side and the right side of a plurality of spinal joints in a penetrating mode and used for controlling the overall movement of the spinal joints, and when the driving mechanism controls the bionic spinal bending, the length of one side of the ropes is larger than the length of the ropes corresponding to the other side of the ropes.
Specifically, actuating mechanism includes first power machine, the two-way rotation of first wire reel of first power machine drive, first wire reel include first upper disc and with the first lower disc that first upper disc linked firmly, first upper disc and first lower disc all set up to fan-shaped, be equipped with respectively on first upper disc and the first lower disc through corresponding fan-shaped structure arc surface, a plurality of backbone joints and with backbone head end or backbone tail end connection's two ropes, two ropes that first upper disc and first lower disc are connected are located backbone joint opposite both sides.
Specifically, in the returning position state, two opposite ropes are tangent to the corresponding first upper disc and the corresponding first lower disc respectively, and the tangent positions of the two ropes are the starting positions of the sectors where the first upper disc and the first lower disc are located respectively.
Specifically, the central angles of the sectors where the first upper disc and the first lower disc are located are smaller than 180 degrees.
Specifically, still include the second power machine, first power machine fixed mounting is in preceding frame, two ropes on the wire reel pass a plurality of backbone joints and backbone tail end connection, second power machine fixed mounting is in the frame behind, second power machine drive second wire reel bidirectional rotation, and the second wire reel sets up to semi-circular, winds respectively on the second wire reel to be equipped with arc surface, a plurality of backbone joints through semi-circular structure to connect two ropes on the backbone head end, two ropes on the second wire reel are located the other both sides that backbone joint is relative.
Specifically, actuating mechanism includes the second power machine, the two-way rotation of second wire reel is driven to the second power machine, and the second wire reel sets up to semi-circular, is equipped with around respectively on every second wire reel through semi-circular structure arc surface, a plurality of backbone joint to connect two ropes on corresponding backbone head end or backbone tail end, every two ropes on the second wire reel all locate the opposite both sides of a plurality of backbone joints.
Specifically, the backbone joint includes cross universal joint, axle, connecting piece and vertebra, connects through the axle between the adjacent cross universal joint, the cover is equipped with the connecting piece on the cross universal joint, the cross universal joint outside is provided with the vertebra, fixed connection between vertebra and the connecting piece, every all be equipped with a plurality of through-holes that are used for the rope to run through on the vertebra.
Specifically, elastic elements stressed on two sides are arranged on two sides of each vertebra, and the elastic elements are silica gel blocks.
Specifically, a groove is formed in the wire wrapping position of each wire spool.
Specifically, in the return position state, the rope on the upper, lower, left and right sides has equal position distances from the central axis of the cross universal joint.
Compared with the prior art, the invention has the beneficial effects that:
according to the bionic spine mechanism, the corresponding driving mechanisms are arranged on the front frame and/or the rear frame, so that the spine is provided with the ropes with sufficient length during bending, the condition that the spine cannot be bent due to the limitation of the ropes is avoided, and the normal bending use of the spine structure can be effectively ensured;
in addition, the invention provides two driving mechanisms, and the release amount of one side of the rope is larger than the receiving amount of the other side by matching or single use of the two driving mechanisms, so that the invention has simple control mode and low failure rate and is beneficial to use in practical application.
Drawings
FIG. 1 is a perspective view of a bionic spinal mechanism according to an embodiment of the present invention;
FIG. 2 is a front view of a bionic spinal mechanism according to an embodiment of the invention;
FIG. 3 is a right side view of a bionic spinal mechanism according to an embodiment of the present invention;
FIG. 4 is a top view of a bionic spinal mechanism according to an embodiment of the present invention;
FIG. 5 is an exploded view of a bionic spinal mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of the variation relationship of the cables between the spinal joints when the bionic spinal mechanism provided by the embodiment of the invention is bent;
FIG. 7 is a schematic diagram showing the relationship between the amount of rope released and the amount of rope retracted when the first spool of the bionic spinal mechanism provided by the embodiment of the invention rotates;
FIG. 8 is a schematic diagram showing the relationship between the amount of rope released and the amount of rope retracted when the second spool of the bionic spinal mechanism provided by the embodiment of the invention rotates;
FIG. 9 is a lattice diagram of the relationship between the rotation angle of the spinal joint and the extension and shortening of each part of the rope according to the embodiment of the present invention;
reference numerals: 1. a front frame; 2. a rear frame; 3. a first power machine; 4. a second power machine; 5. a first wire spool; 501. a first upper plate; 502. a first lower plate; 503. an upper rope mounting point; 504. a lower rope mounting point; 6. a second wire spool; 601. a left rope mounting point; 602. a right rope mounting point; 7. the tail end of the spine; 8. the head end of the spine; 9. a cross universal joint; 10. a shaft; 11. a connecting piece; 12. vertebra; 13. a silica gel block; 1401. an upper rope; 1402. a lower rope; 1403. a left rope; 1404. right rope.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Embodiment one:
the bionic spine mechanism provided by the embodiment of the invention can enable a spine to provide a rope with enough length when the spine is bent, avoid the condition that the spine cannot be bent due to the limitation of the rope, and effectively ensure the normal bending use of the spine structure, and particularly provides a frame of equipment, wherein the equipment comprises a front frame 1 and a rear frame 2, the front frame 1 is provided with a spine head end 8, the rear frame 2 is provided with a spine tail end 7, and at least one spine joint is movably connected between the spine head end 8 and the spine tail end 7, and at the moment, the spine tail end 7 and the spine head end 8 can realize the offset of relative positions through the movement of the spine joints; in order to ensure the overall control of the spine joint, at least one driving mechanism is installed on the front frame 1 and/or the rear frame 2, a wire spool is arranged at the output end of each driving mechanism, ropes on a plurality of wire spools are respectively arranged on the upper side, the lower side, the left side and the right side of a plurality of spine joints in a penetrating manner and used for controlling the overall motion of the spine (taking the bending of the spine in the horizontal direction as an example, the driving mechanism only changes the retraction length of ropes on the left side and the right side at the moment, the limitation of the spine joints is integrated to realize the overall bending of the spine, and at the moment, in order to ensure the orderly bending degree among the spine joints, corresponding limiting elements such as a spring structure in the prior art are adopted, and the like are not excessively described herein), and in order to realize the larger bending degree of the spine structure, the driving mechanism can control the bending of the bionic spine, and the length of one side rope is larger than the length of the other side rope corresponding to the other side (the specific control mode can be used for independently controlling each rope by adopting a corresponding control circuit, and also a mechanical linkage control mode can be used for meeting the requirement of the bending of the spine.
Embodiment two:
the technical scheme provided by the embodiment is different from the first embodiment in that: in particular to a linkage type driving mechanism, compared with the first embodiment, the control mode is simpler, the installation and the maintenance are convenient, and the use in production practice is facilitated. Here specifically, the driving mechanism includes the first power machine 3, set up the first wire spool 5 bidirectional rotation of first power machine 3 drive, first wire spool 5 includes first upper disc 501 and first lower disc 502 that links firmly with first upper disc 501, all set up first upper disc 501 and first lower disc 502 into fan-shaped and its position stagger each other (as shown in fig. 5), be equipped with on first upper disc 501 and the first lower disc 502 respectively through corresponding fan-shaped structure arc surface (the initial position of the rope of illustration is upper rope mounting point 503 and lower rope mounting point 504 respectively), but not only this is limited, can satisfy the scheme can), a plurality of backbone joints and with backbone head end 8 or backbone tail end 7 two ropes that are connected, two spinal joints are located to two ropes that first upper disc 501 and first lower disc 502 are connected this moment, when first wire spool 5 vertical setting, upper disc 501 and first lower disc 502 control upper portion rope and lower rope 1402 (left portion rope 1403 and right portion 1404 are the same reason) this moment respectively, when the same reason sets up first disc 5 in the opposite side level, control the cable is left side rope mounting point 503 respectively, can guarantee the flexible amplitude is more in the opposite sides of this kind of side of the first rope, when the specific structure is large and the amplitude is released at one side of this kind of side, can be guaranteed according to the following the structure, the flexible amplitude is large, when the side is large one side is realized, and the flexible structure is realized:
as shown in fig. 7, which is a schematic diagram of a change amount of the rope length driven by the rotation angle of the first wire spool 5 (taking the upper rope 1401 as an example here), the positional relationship between the first upper disc 501 and the first lower disc 502 is shown with reference to fig. 7, the upper rope 1401 rotates clockwise via the first upper disc 501, the actual change amount of the upper rope 1401 is the difference between two line segment lengths, the payout amount of the lower rope 1402 is the actual movement distance of the rope passing through the fan-shaped profile, the actual winding length of the upper rope 1401 is a line segment due to the stretching effect, the payout amount of the lower rope 1402 is an arc, and the same as the above, at this time, the change amount formulas of the lengths of the upper and lower length ropes are respectively:
l LO1 ＝βl 4
wherein, I TB1 For the recovery of the rope when the first spool 5 rotates, l LO1 For the amount of rope released, l, during rotation of the first spool 5 3 Is the distance l from the center of the first wire spool 5 to the front end 8 of the backbone 4 For the radius of the first wire spool 5, the recovery amount of the rope is smaller than the release amount of the rope by taking in the related data, and the rope control in this way can increase the adaptive elasticity for the spine due to the fact that the recovery amount of one side is smaller than the release amount of the other side, so that the buffer effect can be realized.
In order to ensure the accurate application of the formula and ensure that the variation of the ropes is accurately controlled by people to meet the use requirement, the bionic spine mechanism provided by the embodiment of the invention can be arranged that two opposite ropes are respectively tangent with the corresponding first upper disc 501 and the corresponding first lower disc 502 in a return position state, the tangent positions of the two ropes are respectively the initial positions of the sectors where the first upper disc 501 and the first lower disc 502 are positioned, and the recovery quantity l is when the initial positions are the positions TB1 And discharge amount l LO1 The formula of (a) can be directly applied, and the radian variation range and the line segment variation range which do not correspond to the formula are not existed (in a limited range), so that the spine mechanism is difficult to bend in the initial working process.
In order to prevent the fan-shaped structure part for accommodating the rope from affecting the rope when the fan-shaped structure part excessively rotates, the embodiment of the invention provides the bionic spine mechanism, wherein the central angles of the fan-shaped structures where the first upper disc 501 and the first lower disc 502 are positioned are smaller than 180 degrees, and at the moment, the collision of the rope structure part caused by excessive rotation can be effectively prevented, and the normal control of the spine mechanism is affected.
Embodiment III:
the bionic spine mechanism provided by the embodiment of the invention is different from the second embodiment in that: there is additionally provided a drive mechanism which is arranged to cooperate with the drive mechanism of the second embodiment to effect bending of the spinal column as a whole. The driving mechanism in this embodiment includes a second power machine 4, at this time, the first power machine 3 is fixedly mounted on the front frame 1 (the mounting position of the second power machine 4 is opposite to that of the second power machine to provide a reasonable mounting space), the second power machine 4 is fixedly mounted on the rear frame 2, at this time, two ropes on the first wire spool 5 penetrate through multiple spinal joints to be connected with the tail end 7 of the spine (only by controlling the first wire spool 5 to rotate when the spine is required to be bent), the second power machine 4 is provided to drive the second wire spool 6 to rotate bidirectionally, at this time, the second wire spool 6 is arranged in a semicircle shape, and two ropes (the positions of the left rope mounting point 601 and the right rope mounting point 602 can be shown with reference to fig. 5) connected on the front end 8 of the spine are respectively wound on the second wire spool 6, and two ropes on the opposite sides of the spinal joints (here, two sides different from the control direction of the first power machine 3 are referred to as two sides). When the second wire spool 6 adopts such a fan-shaped structure, the principle of action of the second wire spool is similar to that of the first wire spool 5 (refer to fig. 8), the recovery amount of the rope belongs to the difference between the lengths of the two line segments, and the payout amount of the rope is equal to the length of the arc under the corresponding angle, and the specific formula is as follows:
l LO2 ＝γl 5
here, thel TB2 For the amount of retraction of the cord when the second spool 6 is rotated, l LO2 For the amount of rope released, l, during rotation of the second spool 6 5 Is the radius of the second wire spool 6, l 6 For the distance from the center of the second wire spool 6 to the tail end 7 of the spine, the reduction of the rope between the joints of the spine can be simply led out by the related data to be smaller than the elongation, so that the purpose of normal bending of the spine mechanism is realized. At this time, the second wire spool 6 with the semicircular structure is the same as that of the second embodiment, so as to ensure the normal action of the structure when starting accurately by using the formula package, and the plane of the semicircular shape at the return position (initial position) can be set to be parallel to the plane of the spine tail end 7 (refer to fig. 4), so as to ensure that the variation range of each line segment is within the ideal control range.
Embodiment four:
the bionic spinal mechanism provided by the embodiment of the invention is different from the second or third embodiment in that: through the actuating mechanism who provides in the embodiment III, only set up it at backbone head end 8 and backbone tail end 7 respectively, through vertical placing and the horizontal matched with mode of placing in order to satisfy the actual use demand, two ropes on two second wire reels 6 all locate a plurality of spinal joints relative both sides this moment (a wire reel only controls the bending of controlling left and right or upper and lower direction).
Fifth embodiment:
the bionic spine mechanism provided by the embodiment of the invention is different from the first embodiment in that the composition of the bionic spine mechanism is thinned, a reliable structural basis is provided for the implementation of the first embodiment, specifically, the spine joint is provided and comprises a cross universal joint 9, a shaft 10, a connecting piece 11 and spine 12, at the moment, the adjacent cross universal joints 9 are connected through the shaft 10, the connecting piece 11 is sleeved on the cross universal joint 9, the spine 12 is arranged at the outer side of the cross universal joint 9, the spine 12 is fixedly connected with the connecting piece 11, and a plurality of through holes for a rope to penetrate are formed in each spine 12, and the shape, the number and the specification of the structure can be replaced according to actual use requirements so as to fully implement the technical scheme of the invention.
In order to make the elastic change between the adjacent spinal joints uniform, elastic elements with stress on two sides can be arranged on two sides of each vertebra 12, the elasticity of the spine can be enhanced by utilizing the elastic action of two ends of the elastic elements, and the position of the spine is favorable to be normalized, and in particular, the embodiment provides a silica gel block 13 as the elastic element to meet the requirement (as shown in fig. 5).
In order to prevent the rope from falling out in the moving process, a groove for accommodating the rope is formed in the wire wrapping position part of each wire spool, so that the bionic mechanism is prevented from being separated from control due to sliding of the rope.
In order to control the recovery and release of the ropes required for the spine bending, the mechanism can be arranged in a return position state, wherein the positions of the ropes on the upper side, the lower side, the left side and the right side are equal to the central axis of the cross universal joint (9), and the corresponding reduction and extension are in accordance with the following formulas (see figure 6):
at this time l DE For rope shortening, l IN The rope elongation is represented by the formula, wherein n is the number of joints, and alpha is the rotation angle of a single spinal joint; l (L) 1 For the distance of the rope from the radial axis of the cross-joint 9, l 2 Is the distance between adjacent vertebrae 12. The corresponding data are carried in to obtain a bitmap as shown in fig. 9, and the rope for driving the spine structure to bend is shortened by an amount l DE Is an active value, l IN For the required elongation of the rope, the actual elongation l of the two driving mechanisms provided in the above embodiment can be obtained from the data in the figure LO1 And l LO2 All are larger than the required elongation, and the requirement of the spine structure bending is met.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. The bionic spine mechanism is characterized by comprising a front frame (1) and a rear frame (2), wherein a spine head end (8) is arranged on the front frame (1), a spine tail end (7) is arranged on the rear frame (2), and at least one spine joint is movably connected between the spine head end (8) and the spine tail end (7);
the front frame (1) and/or the rear frame (2) are/is provided with at least one driving mechanism, the output end of each driving mechanism is provided with a wire spool, ropes on a plurality of wire spools are respectively penetrated on the upper side, the lower side, the left side and the right side of a plurality of spinal joints and used for controlling the integral movement of the spinal joints, and when the driving mechanism controls the bending of the bionic spinal joints, the length of one side of the rope released is larger than the length of the corresponding other side of the rope retracted;
the driving mechanism comprises a first power machine (3), the first power machine (3) drives a first wire spool (5) to rotate bidirectionally, the first wire spool (5) comprises a first upper disk (501) and a first lower disk (502) fixedly connected with the first upper disk (501), and the first upper disk (501) and the first lower disk (502) are both arranged in a fan shape and are staggered in position;
the central angles of the sectors where the first upper disc (501) and the first lower disc (502) are located are smaller than 180 degrees, and in a return-to-position state, two opposite ropes are tangent to the corresponding first upper disc (501) and the corresponding first lower disc (502) respectively, and the tangent positions of the two ropes are the initial positions of the sectors where the first upper disc (501) and the first lower disc (502) are located respectively.
2. The bionic spinal mechanism according to claim 1, wherein the first upper disc (501) and the first lower disc (502) are respectively provided with two ropes which pass through the arc surface of the corresponding fan-shaped structure, a plurality of spinal joints and are connected with the head end (8) or the tail end (7) of the spinal column, and the two ropes connected with the first upper disc (501) and the first lower disc (502) are arranged on two opposite sides of the spinal joints.
3. The bionic spine mechanism according to claim 2, further comprising a second power machine (4), wherein the first power machine (3) is fixedly installed on the front frame (1), two ropes on the first wire spool (5) penetrate through a plurality of spine joints to be connected with the spine tail end (7), the second power machine (4) is fixedly installed on the rear frame (2), the second power machine (4) drives the second wire spool (6) to rotate bidirectionally, the second wire spool (6) is arranged in a semicircle shape, two ropes which pass through the arc surface of the semicircle structure and a plurality of spine joints are respectively wound on the second wire spool (6) and are connected to the spine head end (8), and the two ropes on the second wire spool (6) are arranged on the other two sides opposite to the spine joints.
4. The bionic spinal column mechanism according to claim 1, wherein the driving mechanism comprises a second power machine (4), the second power machine (4) drives the second wire spool (6) to rotate bidirectionally, the second wire spool (6) is arranged in a semicircular shape, two ropes passing through arc surfaces of the semicircular structures and a plurality of spinal joints are respectively wound on each second wire spool (6) and connected to the head end (8) or the tail end (7) of the corresponding spinal column, and the two ropes on each second wire spool (6) are arranged on two opposite sides of the spinal joints.
5. A bionic spinal mechanism according to claim 1, wherein the spinal joint comprises a cross universal joint (9), a shaft (10), a connecting piece (11) and vertebrae (12), wherein adjacent cross universal joints (9) are connected through the shaft (10), the connecting piece (11) is sleeved on the cross universal joint (9), vertebrae (12) are arranged on the outer side of the cross universal joint (9), the vertebrae (12) are fixedly connected with the connecting piece (11), and a plurality of through holes for ropes to penetrate are formed in each vertebrae (12).
6. A bionic spinal mechanism according to claim 5, wherein the two sides of each vertebra (12) are provided with two-sided stressed elastic elements, which are silicone blocks (13).
7. A bionic spinal mechanism according to claim 1, wherein each wire spool is provided with a recess at a wire-wrapping position.
8. A bionic spinal mechanism according to claim 1, wherein the ropes on the upper, lower, left and right sides are all equidistant from the central axis of the cross universal joint (9) in the neutral position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210083408.4A CN114434424B (en) | 2022-01-25 | 2022-01-25 | Bionic spine mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210083408.4A CN114434424B (en) | 2022-01-25 | 2022-01-25 | Bionic spine mechanism |
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| Publication Number | Publication Date |
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| CN114434424A CN114434424A (en) | 2022-05-06 |
| CN114434424B true CN114434424B (en) | 2024-01-09 |
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| CN202210083408.4A Active CN114434424B (en) | 2022-01-25 | 2022-01-25 | Bionic spine mechanism |
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| CN114750908B (en) * | 2022-05-07 | 2023-06-09 | 广州大学 | Flexible framework capable of being transmitted based on spine morphology bionics and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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